CN108344411A - Indoor high-accuracy position system - Google Patents
Indoor high-accuracy position system Download PDFInfo
- Publication number
- CN108344411A CN108344411A CN201810133439.XA CN201810133439A CN108344411A CN 108344411 A CN108344411 A CN 108344411A CN 201810133439 A CN201810133439 A CN 201810133439A CN 108344411 A CN108344411 A CN 108344411A
- Authority
- CN
- China
- Prior art keywords
- base station
- label
- score
- position system
- accuracy position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of indoor high-accuracy position system, including UWB locating modules, the acquisitions of the location data for user position；Earth magnetism path orientation module, for by earth magnetism location model according to collected Geomagnetic signal carry out the acquisition that user is currently located the earth magnetism path data in region；Adaptive reserved portion integrated unit, similarity for finding out two locating modules by Euclidean distance, that is then the score of positioning result merges obtained location data in score level using adaptive score blending algorithm, finds out the final score of the user；As a result output unit, the output for carrying out final positioning result.The continuous reliable positioning of pinpoint accuracy can be achieved in the present invention.
Description
Technical field
The present invention relates to indoor positioning technologies fields, and in particular to a kind of interior high-accuracy position system.
Background technology
When environment can not use satellite positioning indoors, using indoor positioning technologies as the auxiliary positioning of satellite positioning,
Solve the problems, such as when satellite-signal reaches ground it is weaker, cannot penetrate building, realize personnel, object etc. indoors in space
Monitoring position.Existing indoor orientation method mainly include cellular localization technology, Wi-Fi, bluetooth, infrared ray, ultra wide band,
RFID, ZigBee and ultrasonic wave, but these indoor positioning technologies have following defect：
(1) bluetooth, optic communication indoor positioning technologies precision be relatively low, poor reliability, cannot carry out data interaction with high in the clouds, no
High in the clouds can be met to the demands such as terminal security monitoring and early warning, emergency management and rescue and commander；
(2) UWB indoor location technology precision is higher, can not be directly applied on smart mobile phone, practicability is poor；
(3) Wi-Fi indoor positioning technologies can carry out data interaction, but the essence of Wi-Fi indoor positioning technologies with high in the clouds
Spend low, poor reliability；
(4) single indoor positioning technologies means cannot meet people indoors high-precision under complex environment, stablize, even
Continuous, reliable location requirement.
Invention content
To solve the above problems, the present invention provides a kind of indoor high-accuracy position system, it can be achieved that the company of pinpoint accuracy
Continuous reliable positioning.
To achieve the above object, the technical solution that the present invention takes is：
Indoor high-accuracy position system, including UWB locating modules, the acquisition of the location data for user position；
Earth magnetism path orientation module is worked as passing through earth magnetism location model according to the collected Geomagnetic signal progress user of institute
The acquisition of earth magnetism path data in preceding region；
Adaptive reserved portion integrated unit, the similarity for finding out two locating modules by Euclidean distance, i.e. positioning knot
Then the score of fruit merges obtained location data in score level using adaptive score blending algorithm, finds out
The final score of the user；
As a result output unit, the output for carrying out final positioning result.
Preferably, the UWB locating modules include the label being fixed in positioning target, and at least four fixations are sat indoors
The known base station of mark and a positioning terminal.
Preferably, Zigebee modules are set in the label, for the UWB communication modules in the base station into row information
Interaction.
Preferably, the UWB locating modules complete the phase of label and each base station by bilateral bidirectional ranging algorithm SDS-TWR
It adjusts the distance measurement.
Preferably, the bilateral bidirectional ranging algorithm SDS-TWR specifically comprises the following steps：
Label sends first ranging data packet to base station and returns to hardware if base station received correctly this data packet and answer
It answers to user tag, and asks to generate transmission delay T1；
Label calculates transmission delay T1, while this data is sent to base station, and waits for the hardware response of base station；
The relevant parameter that label is sent is read in base station, and prepares for second of the ranging of label and base station；
Processing delay T2 is obtained by calculation in base station, and T2 is sent to label；
Label receives the ranging data packet of base station, and automatic to send hardware response to base station, base station will be answered according to the hardware
It answers and calculates propagation delay T3；
Base station calculates propagation delay T3, and T3 is sent to label, and waits for the hardware response of label；
Label reads the T3 that base station is sent, and calculates processing delay T4；
Label calculates the relative distance of outgoing label and base station according to T1, T2, T3, T4.
Preferably, adaptive score blending algorithm formula is as follows：
Fi=α Vi+βNi (1)
Wherein, ViIndicate that the score of UWB positioning, Ni indicate the score of earth magnetism path orientation, wherein alpha+beta=1.
Preferably, the α and β uses adaptive value scheme, and formula is such as shown in (2) and (3)：
The invention has the advantages that：
Have many advantages, such as that stability is good, positioning accuracy is high, arithmetic speed is fast and scalability is strong.
Description of the drawings
Fig. 1 is a kind of system block diagram of indoor high-accuracy position system of the embodiment of the present invention.
The flow chart of the bilateral bidirectional ranging algorithm SDS-TWR of Fig. 2 embodiment of the present invention.
Specific implementation mode
In order to make objects and advantages of the present invention be more clearly understood, the present invention is carried out with reference to embodiments further
It is described in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As shown in Figure 1, an embodiment of the present invention provides a kind of indoor high-accuracy position system, including UWB locating modules, it uses
In the acquisition of the location data of user position；
Earth magnetism path orientation module is worked as passing through earth magnetism location model according to the collected Geomagnetic signal progress user of institute
The acquisition of earth magnetism path data in preceding region；
Adaptive reserved portion integrated unit, the similarity for finding out two locating modules by Euclidean distance, i.e. positioning knot
Then the score of fruit merges obtained location data in score level using adaptive score blending algorithm, finds out
The final score of the user；
As a result output unit, the output for carrying out final positioning result.
The UWB locating modules include the label being fixed in positioning target, and at least four fix known to coordinate indoors
Base station and a positioning terminal.
Zigebee modules are set in the label, for the UWB communication modules in the base station into the interaction of row information.
The UWB locating modules complete the relative distance of label and each base station by bilateral bidirectional ranging algorithm SDS-TWR
It measures.
As shown in Fig. 2, the bilateral bidirectional ranging algorithm SDS-TWR specifically comprises the following steps：
Label sends first ranging data packet to base station and returns to hardware if base station received correctly this data packet and answer
It answers to user tag, and asks to generate transmission delay T1；
Label calculates transmission delay T1, while this data is sent to base station, and waits for the hardware response of base station；
The relevant parameter that label is sent is read in base station, and prepares for second of the ranging of label and base station；
Processing delay T2 is obtained by calculation in base station, and T2 is sent to label；
Label receives the ranging data packet of base station, and automatic to send hardware response to base station, base station will be answered according to the hardware
It answers and calculates propagation delay T3；
Base station calculates propagation delay T3, and T3 is sent to label, and waits for the hardware response of label；
Label reads the T3 that base station is sent, and calculates processing delay T4；
Label calculates the relative distance of outgoing label and base station according to T1, T2, T3, T4.
The adaptive score blending algorithm formula is as follows：
Fi=α Vi+βNi (1)
Wherein, ViIndicate that the score of UWB positioning, Ni indicate the score of earth magnetism path orientation, wherein alpha+beta=1.
The α and β uses adaptive value scheme, and formula is such as shown in (2) and (3)：
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, it can also make several improvements and retouch, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (7)
1. high-accuracy position system in Room, which is characterized in that including
UWB locating modules, the acquisition of the location data for user position；
Earth magnetism path orientation module, for carrying out the current institute of user according to the collected Geomagnetic signal of institute by earth magnetism location model
The acquisition of earth magnetism path data in region；
Adaptive reserved portion integrated unit, the similarity for finding out two locating modules by Euclidean distance, i.e. positioning result
Then score merges obtained location data in score level using adaptive score blending algorithm, finds out the use
The final score in family；
As a result output unit, the output for carrying out final positioning result.
2. interior high-accuracy position system as described in claim 1, which is characterized in that the UWB locating modules include fixing
Label in positioning target, at least four fix base station and a positioning terminal known to coordinate indoors.
3. interior high-accuracy position system as claimed in claim 2, which is characterized in that Zigebee modules are set in the label,
For the interaction with the UWB communication modules in the base station into row information.
4. interior high-accuracy position system as claimed in claim 2, which is characterized in that the UWB locating modules pass through bilateral
Bidirectional ranging algorithm SDS-TWR completes the Relative ranging of label and each base station.
5. interior high-accuracy position system as claimed in claim 4, which is characterized in that the bilateral bidirectional ranging algorithm SDS-
TWR specifically comprises the following steps：
Label sends first ranging data packet to base station, if base station received correctly this data packet, return hardware response to
User tag, and ask to generate transmission delay T1；
Label calculates transmission delay T1, while this data is sent to base station, and waits for the hardware response of base station；
The relevant parameter that label is sent is read in base station, and prepares for second of the ranging of label and base station；
Processing delay T2 is obtained by calculation in base station, and T2 is sent to label；
Label receives the ranging data packet of base station, and automatic to send hardware response to base station, base station will be according to the hardware response meter
Calculate propagation delay T3；
Base station calculates propagation delay T3, and T3 is sent to label, and waits for the hardware response of label；
Label reads the T3 that base station is sent, and calculates processing delay T4；
Label calculates the relative distance of outgoing label and base station according to T1, T2, T3, T4.
6. interior high-accuracy position system as described in claim 1, which is characterized in that adaptive score blending algorithm formula
It is as follows：
Fi=α Vi+βNi (1)
Wherein, ViIndicate the score of UWB positioning, NiIndicate the score of earth magnetism path orientation, wherein alpha+beta=1.
7. interior high-accuracy position system as claimed in claim 6, which is characterized in that the α and β uses adaptive value
Scheme, formula is such as shown in (2) and (3)：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133439.XA CN108344411A (en) | 2018-02-09 | 2018-02-09 | Indoor high-accuracy position system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133439.XA CN108344411A (en) | 2018-02-09 | 2018-02-09 | Indoor high-accuracy position system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108344411A true CN108344411A (en) | 2018-07-31 |
Family
ID=62959369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810133439.XA Pending CN108344411A (en) | 2018-02-09 | 2018-02-09 | Indoor high-accuracy position system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108344411A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814068A (en) * | 2019-01-30 | 2019-05-28 | 广州轨道交通建设监理有限公司 | A kind of site staff's positioning system and site staff's localization method |
| CN109945865A (en) * | 2019-02-25 | 2019-06-28 | 天津大学 | The indoor orientation method merged based on WiFi with earth magnetism |
| CN112627898A (en) * | 2020-12-31 | 2021-04-09 | 兰州资源环境职业技术学院 | Underground personnel positioning system for mine safety |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102573058A (en) * | 2012-01-16 | 2012-07-11 | 上海齐汇通讯技术有限公司 | System and method for accurately positioning wireless sensor network |
| CN105976563A (en) * | 2016-07-01 | 2016-09-28 | 青岛市光电工程技术研究院 | Fire rescue system |
| CN106507302A (en) * | 2016-11-04 | 2017-03-15 | 南开大学 | A kind of three-dimensional indoor locating system based on UWB |
| CN106709477A (en) * | 2017-02-23 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Face recognition method and system based on adaptive score fusion and deep learning |
| CN107144839A (en) * | 2016-03-01 | 2017-09-08 | 通用汽车环球科技运作有限责任公司 | Pass through the long object of sensor fusion detection |
| CN107607110A (en) * | 2017-07-29 | 2018-01-19 | 刘儿兀 | A kind of localization method and system based on image and inertial navigation technique |
-
2018
- 2018-02-09 CN CN201810133439.XA patent/CN108344411A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102573058A (en) * | 2012-01-16 | 2012-07-11 | 上海齐汇通讯技术有限公司 | System and method for accurately positioning wireless sensor network |
| CN107144839A (en) * | 2016-03-01 | 2017-09-08 | 通用汽车环球科技运作有限责任公司 | Pass through the long object of sensor fusion detection |
| CN105976563A (en) * | 2016-07-01 | 2016-09-28 | 青岛市光电工程技术研究院 | Fire rescue system |
| CN106507302A (en) * | 2016-11-04 | 2017-03-15 | 南开大学 | A kind of three-dimensional indoor locating system based on UWB |
| CN106709477A (en) * | 2017-02-23 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Face recognition method and system based on adaptive score fusion and deep learning |
| CN107607110A (en) * | 2017-07-29 | 2018-01-19 | 刘儿兀 | A kind of localization method and system based on image and inertial navigation technique |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814068A (en) * | 2019-01-30 | 2019-05-28 | 广州轨道交通建设监理有限公司 | A kind of site staff's positioning system and site staff's localization method |
| CN109814068B (en) * | 2019-01-30 | 2023-07-28 | 广州轨道交通建设监理有限公司 | Building site personnel positioning system and building site personnel positioning method |
| CN109945865A (en) * | 2019-02-25 | 2019-06-28 | 天津大学 | The indoor orientation method merged based on WiFi with earth magnetism |
| CN109945865B (en) * | 2019-02-25 | 2023-02-28 | 天津大学 | Indoor positioning method based on WiFi and geomagnetic fusion |
| CN112627898A (en) * | 2020-12-31 | 2021-04-09 | 兰州资源环境职业技术学院 | Underground personnel positioning system for mine safety |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Poulose et al. | Localization error analysis of indoor positioning system based on UWB measurements | |
| CN113271540B (en) | Bluetooth signal positioning method, multi-signal fusion positioning method and system | |
| Wang et al. | Light positioning: A high-accuracy visible light indoor positioning system based on attitude identification and propagation model | |
| Mok et al. | Location determination using WiFi fingerprinting versus WiFi trilateration | |
| CN106793087B (en) | Array antenna indoor positioning method based on AOA and PDOA | |
| CN103813448A (en) | Indoor positioning method based on RSSI | |
| CN103049772B (en) | Indoor positioning based on passive radio frequency identification technique follows the tracks of system and method | |
| CN109275095A (en) | A kind of indoor locating system based on bluetooth, positioning device and localization method | |
| CN109540144A (en) | A kind of indoor orientation method and device | |
| CN103167606B (en) | Based on the WLAN indoor orientation method of rarefaction representation | |
| Chabbar et al. | Indoor localization using Wi-Fi method based on Fingerprinting Technique | |
| CN108882151A (en) | Indoor orientation method based on CSI information areaization mark | |
| CN108344411A (en) | Indoor high-accuracy position system | |
| Memon et al. | Smart indoor positioning using BLE technology | |
| CN104181500A (en) | Real-time locating method based on inertia information and chance wireless signal characteristics | |
| Zeng et al. | NLOS identification for UWB based on channel impulse response | |
| CN105531599A (en) | Method and apparatus for time of flight fingerprint and geo-location | |
| CN107167767A (en) | High-precision locating method in a kind of visible ray room based on SC FDMA | |
| CN108535688A (en) | A kind of radiation source localization method based on the processing of monitoring radio-frequency spectrum big data | |
| CN103945526A (en) | Wireless equipment positioning method and system based on induced detection technology | |
| CN112308998A (en) | Indoor positioning intelligent inspection system and method based on Bluetooth | |
| Feng et al. | An adaptive IMU/UWB fusion method for NLOS indoor positioning and navigation | |
| Mazan et al. | A Study of Devising Neural Network Based Indoor Localization Using Beacons: First Results. | |
| CN104683949B (en) | It is a kind of to be applied to the mixing method for self-locating based on aerial array in Wireless Mesh network | |
| Rozum et al. | Bluetooth low power portable indoor positioning system using simo approach |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180731 |
|
| RJ01 | Rejection of invention patent application after publication |